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Avionics
Software Development
Skyward Boardcore
Commits
7d5f8a0d
Commit
7d5f8a0d
authored
10 months ago
by
Emilio Corigliano
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[NAS] Updated comments on NASConfig
parent
eaaf8e6d
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!306
[NAS] Updated GPS, barometer, accelerometer and pitot corrects
Pipeline
#10003
passed
10 months ago
Stage: lint
Stage: build
Stage: test
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src/shared/algorithms/NAS/NASConfig.h
+7
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7 additions, 7 deletions
src/shared/algorithms/NAS/NASConfig.h
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src/shared/algorithms/NAS/NASConfig.h
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7d5f8a0d
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@@ -31,16 +31,16 @@ struct NASConfig
{
float
T
;
///< [s] Sample period
float
SIGMA_BETA
;
///< [rad/s^2] Estimated gyroscope bias variance
float
SIGMA_W
;
///< [rad
^2
] Estimated gyroscope variance
float
SIGMA_ACC
;
///< [
uT
^2] Estimated accelerometer variance
float
SIGMA_MAG
;
///< [uT
^2
] Estimated magnetometer variance
Eigen
::
Vector4f
SIGMA_GPS
;
///< [millideg
^2
, millideg
^2
, m
^2/s^2, m^2/s^2
]
float
SIGMA_W
;
///< [rad] Estimated gyroscope variance
float
SIGMA_ACC
;
///< [
m/s
^2] Estimated accelerometer variance
float
SIGMA_MAG
;
///< [uT] Estimated magnetometer variance
Eigen
::
Vector4f
SIGMA_GPS
;
///< [millideg, millideg, m
/s, m/s
]
///< estimated GPS variance. position from test,
///< velocity from datasheet
float
SIGMA_BAR
;
///< [Pa] Estimated altitude variance
float
SIGMA_POS
;
///< [m
^2
] Estimated variance of the position noise
float
SIGMA_VEL
;
///< [
(
m/s
)^2
] Estimated variance of the velocity noise
float
SIGMA_PITOT
;
///< [Pa
^2
] Estimated variance of the pitot velocity
float
SIGMA_POS
;
///< [m] Estimated variance of the position noise
float
SIGMA_VEL
;
///< [m/s] Estimated variance of the velocity noise
float
SIGMA_PITOT
;
///< [Pa] Estimated variance of the pitot velocity
float
P_POS
;
///< Position prediction covariance horizontal
float
P_POS_VERTICAL
;
///< Position prediction covariance vertical
...
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